EP2370319B1 - Appareil pour distribuer et inserer un materiau d'emballage dans des recipients et procede associe - Google Patents

Appareil pour distribuer et inserer un materiau d'emballage dans des recipients et procede associe Download PDF

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Publication number
EP2370319B1
EP2370319B1 EP20090803737 EP09803737A EP2370319B1 EP 2370319 B1 EP2370319 B1 EP 2370319B1 EP 20090803737 EP20090803737 EP 20090803737 EP 09803737 A EP09803737 A EP 09803737A EP 2370319 B1 EP2370319 B1 EP 2370319B1
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EP
European Patent Office
Prior art keywords
container
foam
packaging material
articles
dispensing
Prior art date
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EP20090803737
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German (de)
English (en)
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EP2370319A1 (fr
Inventor
Marco Corradi
Paolo Corradi
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Storopack Hans Reichenecker GmbH
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Storopack Hans Reichenecker GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B55/00—Preserving, protecting or purifying packages or package contents in association with packaging
    • B65B55/20—Embedding contents in shock-absorbing media, e.g. plastic foam, granular material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles

Definitions

  • This invention relates generally to the end-of-line packaging and more precisely to an apparatus for dispensing and inserting packaging material in containers containing articles.
  • Packaging processes characterized in high productivity and standardization of the articles to be packaged have reached an high automation level, but in those cases where the variability of the articles is a predominant peculiarity of the process, the presence of the man still is necessary.
  • Air bags, air pads and crumpled paper packaging technologies rely on the manual inserting of said materials, dispensed by special machines, into the containers.
  • the operator evaluates the needed amount of materials directly during the inserting action; if too much material has been dispensed, then the operator simply takes it out of the container and keeps it available for the next one. If the operator puts the material not properly into the container, then the operator can simply take it out and use it again for next packages.
  • Loose fill chips are usually, but not necessary, stored in big bags approximately 1 cubic meter volume capacity hanging on a support frame above the packaging station.
  • the operator takes care of discharging the loose fill chips down into the container by means of a manual actuated valve, of driving the stream of chips towards void areas and of dosing the proper amount of material. If an over-dosing or wrong dispensing should occur, the consequence is just some chips on the floor to be cleaned up. If an underestimated dosing should occur, the operator simply needs to dispense some more chips.
  • Foam-in-place Packaging technology by means of polyurethane foam expanded in place, known as “foam-in-place” or “foam-in-bag”, provides undiscussed benefits, however it is much more sensitive than the previously mentioned technologies.
  • Foam-in-place is to be understood as a generic term that includes all systems capable to produce PU foam in situ, therefore both automatic or semi-automatic bag machines and hand held machines.
  • Foam-in-place bags technology consists in inserting plastic bags into the container, being inside the bags a chemical substance or mixture that expands and fills therefore the void volume available in the container, this way blocking the articles contained. This technology requires a foam precursors mixing machine with a bags forming device.
  • the operator estimates the volume and the shape of the void space within the container where the articles to be packaged are, then the operator sets the foam-in-place system for the dispensing of the most appropriate bag or bags.
  • An undersized bag due to wrong length or filling percentage, leads to a not effective package or to a waste of material, the expanded bag being difficultly re-employable.
  • a light over-sizing leads to a waste of material; an over sizing may likely lead to a bag breaking and therefore the foam spreads over the articles; the oversized bag may prevent flaps from being closed as well. In both situations it is necessary to replace the bag and the obvious consequence is a waste of foam and a lost of productivity.
  • the bags estimation is even more complicated due to "shape factors": the foam expands within the container driven both by the void space geometry and by the film layers of the bag in which it is contained. Because of that, it is not enough the operator estimates the void volume value to be filled, but he has to consider its shape also in order to set the most suitable bag.
  • crumpled paper, air bags or air pads packaging technologies allow packaging by tentative: material can be added, taken out or moved from an area to a different one without any problem.
  • foam-in-place is the most effective protective-packaging technology, it is also the most sensitive from the application stand point because a recovery chance is not given: if the bag is not the proper one for the addressed location or if it has been inserted wrongly, since the foam expansion starts there will not be chances to modify the situation: it will be necessary to replace that bag with a new one.
  • An oversized bag may shift, while expanding, the articles from the original position towards the container side, alternatively it may deform the container side; wrong sized or badly inserted bags may break the film (foam flows out). On the other hand, undersized bags will compromise the protection performance.
  • the foam expands in radial direction tending to assume a spherical shape; that characteristic does not help at all reaching distant corners or expanding through narrow corridors.
  • Some void space geometry can be filled only by using several bags put in critical positions. Process unknown parameters are therefore the types and the number of bags to be dispensed, and the proper disposition inside the container, with the target of both protecting the articles at the maximum extent and optimizing the amount of dispensed foam.
  • WO 2006/017602 A1 discloses a packaging system and method having a contour sensor, void determination means, and an automatic dunnage dispenser.
  • US 2001/0017023 A1 describes a cushioning conversion system and method supplying an operator with an appropriate amount of packaging material and detailed packaging instructions.
  • the value of the void volume to be filled is not enough to realize a good package; it is indeed necessary to determine and interpret the geometrical location of the articles inside the container or, which is the same, the geometrical distribution of the void volume in order to make the right decision about the most suitable dispensing and inserting of packaging material.
  • the foam-in-place technology several bags are often necessary, accurately inserted and filled with the necessary amount of foam, which is calculated to fill a specific fraction of the total void volume only.
  • the object of this invention is to provide a packaging apparatus and method that are more economical and more reliable than those known in the state of the art.
  • the inventive apparatus and method are able to replace the operator's will in calculating the necessary volume of packaging material, in interpreting its shape, in making the decision about dispensing and inserting the material and in performing these action as well, by acting directly and automatically on the articles to be packaged.
  • the inventive apparatus and method allows to interpret the shape of the void space left in a container in which one or more articles have been placed and allows to calculate not only the necessary volume of packaging material, but also, through the processing of these data and determining the geometrical distribution of the void space, to determine the most suitable dispensing and inserting modality and the relative actions as well.
  • the apparatus comprises a detection unit and processing means that detect and elaborate the geometrical shape of the containers and of the articles.
  • the detection unit may comprise one or more sensors hung, for instance, on a support frame right above a conveying line for the containers and contained articles. These sensors are able to measure quantities useful for calculating the geometric characteristics of said containers and articles.
  • processing means comprise a logic device able to acquire data obtained from said sensors and able to process said data for generating instructions and commands about the dispensing and insertion modality of the packaging material.
  • This logic device may manage and coordinate as well other devices involved in the process.
  • the apparatus comprises a packaging material dispensing device; the dispensing is driven by the instructions and commands sent by the logic device, the dispensing device and the logic device being able to communicate.
  • the dispensing device may be a foam-in-place bags system or a dispensing machine for other packaging materials, like loose fill products.
  • the apparatus comprises insertion means for inserting the packaging material into the containers; insertion means are driven by the instructions and commands sent by the logic device, being the insertion means and the logic device able to communicate.
  • Said insertion means comprise an inserting device, which can be a single or multiple linear or rotational axes manipulator, or simply a sort of hopper or a motorized belt that convey the material into the containers, and/or comprise a graphic interface to instruct the operator about how and/or where to insert the packaging material into the container.
  • the apparatus according to this invention is particularly effective in solving peculiar issues of foam-in-place applications, but can be successfully employed also in other packaging technologies.
  • an automatic packaging method for articles in containers is disclosed; this method is performed through the apparatus explained above.
  • a packing method in human-assisted mode is also disclosed: with this method, an operator looks at the instructions output by the logic device on a graphic interface and inserts manually the material into the container following said instructions; according to one aspect of the invention, the apparatus is still in charge of determining dispensing the material and the insertion instructions.
  • the invention provides the advantage of automatically providing not only the correct amount or volume, respectively, of packaging material, but also of providing the packaging material at such a location that the void space is best filled and the articles are best protected. As a result, damages to the articles due to shipping are less often. To achieve these objects, no additional person is needed. Instead, manpower can be reduced, such that the cost for placing the packaging material is reduced.
  • Figure 1 shows an embodiment of an apparatus 1 for dispensing and inserting packaging material: containers 2 containing the articles to be packaged 3 are conveyed, by a motorized conveying device 4, through a gate frame 5 holding one or more sensors 6 capable of providing data useful to the calculation of geometric characteristics of containers 2 and contained articles 3.
  • the motorized conveying device 4 transports the containers through the gate frame 5, one after the other and keeping each apart from the contiguous ones, and to a packaging area 7.
  • a suitable conveying device could be, for instance, a motorized rolls conveyor 4 split in two zones, a first one 11 (“slow zone”) conveying at a lower speed than the second one 13 (“fast zone”), the second one 13 extending from and through the gate frame 5 area and extending further to the packaging area 7.
  • a stopping device 12 placed along the conveying device 4 and in between the slow zone 11 and the fast zone 13, stops the containers 2 if it is actuated as shown in the figure.
  • the stopping device 12 is retracted and thus disengages from the container 2, one container 2 moves on to the fast zone 13, accelerating and separating from the next one.
  • a stopping device 10 crosses the conveyor device 4 and thus stops said container 2 when it is actuated as shown in the figure.
  • the container 2 is aligned to a first reference coordinate.
  • an actuated pushing device 9 aligns said container to the second reference co-ordinate.
  • the container 2 is now in a defined "packaging position".
  • the working principle of the sensors 6 or, in more general terms, of detection unit 6 can be based on different technologies, for example optical technologies (e.g. LASER scanning, Indirect Time-of-Flight, structured light, LASER triangulation, one or more cameras or others) or ultrasound technologies.
  • said detection unit 6 is a LASER scanning device, which calculates the distance between its emitter and the incidence point of the LASER beam on the object surface by means of a mechatronic system that is able to measure the "phase-shift" of the modulated LASER signal reflected by the object.
  • Said LASER scanning device provides sensing in a two-dimensional measurement plane 32, which is defined by a scanning aperture angle and by the distance between the LASER scanning device and the motorized conveying device 4, normally oriented along a plane that is orthogonal to the direction 36 of the motion of the container 2 and the articles 3 (referring to figure 3a ).
  • Said LASER scanning device is capable to define, point-by-point, and with a finite resolution depending on settable parameters, the geometric profile 33 of the underneath container 2 and of the contained articles 3 (as figure 4 illustrates in a theoretical example), by detecting the relative distances to said LASER scanning device.
  • geometric profile is meant, with reference to figure 4 , the line that identifies the upper border of the single cross section 34 of the container 2 and the contained articles 3, which is obtained by connecting the points located by the LASER scan.
  • the LASER scanning device that may be used in the apparatus 1 is the model LMS-400-1000 from Sick AG.
  • the measurements or measurement signals, respectively, provided by the detection unit 6 are acquired by a logic device 14, which, according to a preferred embodiment of the invention, is a computer equipped with specific processing and control software and with a display. Following to its function, it may be called “elaborating” or “processing” means.
  • the forward motion of the motorized conveying device 4 allows scanning several cross-sections or, more precisely, transversal geometric profiles 33, according to the previous definition, making the logic device 14 able to generate, in real time, a three-dimensional model of the scanned surface of the whole container 2 and the articles 3 contained therein, and consequently a digital and meshed reproduction of the solid geometry of the articles 3 and container 2, on the basis of the known instantaneous speed of the motorized conveying device 4, said speed obtained by means of a suitable sensor or being fixed as a constant.
  • the frame 5 can then be equipped with one or more further sensors, for example, photocells 35, in order to detect the passage of the containers 2 and to start the measurement, being also helpful in the measurement of the geometrical parameters of the containers, e.g. the length.
  • sensors for example, photocells 35
  • the processing means are capable to provide correct results regardless how the containers are oriented during the scan: thus there is no need for alignment devices along the conveying device 4, because said processing means can anyhow calculate the geometrical characteristics of the container 2 and of the contained articles 3 in several ways, for example by exploiting analytic geometry algorithms and in general algorithms in the field of the "machine vision", supported by the knowledge that the container has the solid geometry of a parallelepiped.
  • the apparatus 1 is conceived to work with containers having a known proportion between the width of the container 2 and the height of the flaps 16, although this characteristic is not a limit of the invention.
  • a major aspect of the invention is pointed out, which consists in an automatic process of interpretation of the specific distribution of the solid geometry of the articles 3 contained in the container 2 (prior to which other processing steps of the acquired data may be performed), and thus, of a corresponding geometric interpretation of the space in the container that is not occupied by the articles ("void space” in the following), with the aim to define the proper modalities for dispensing and automatically inserting the packaging material, in particular to define the amount, size and shape of the filling material that is to be placed within the container, and also to define the location where the so defined filling material is to be placed.
  • methods of data processing can be used, which allow to subdivide the set of geometric points (or the corresponding polygonal "mesh" structure that is possible to generate with them) composing the profile of the contained articles 3, in sub-sets of geometric points (or in sub-sets of polygons composing the polygonal mesh) having one or more characteristics in common or analogous.
  • said set can be suitably converted, for example, in an equivalent image in colour-scale, which values represent, according to a proper conversion, the heights of the geometric points detected by the scan.
  • Many processing and interpretation steps can be performed on said two-dimensional representation, said steps generally belonging to the techniques and methods of the "computer vision", with the aim to extract characteristics and information useful to the process of interpretation of the geometrical distribution of the articles in the container and, therefore, of the void space.
  • Figure 5 illustrates a perspective view of the contained articles 3 (and the container 2) of figure 3a , subdivided in four sets according to a generic rule that imposes that all the geometric points, composing the profile of the contained articles 3, which have a height value belonging to suitable ranges, or within suitable thresholds, are clustered in a set 15 (that in this case can be defined as a "layer” with reference to figure 5 ) with a specific height value (L0, L1, L2, L3).
  • This process involves all the geometric points of the profile (three-dimensional model of the scanned surface) of the contained articles 3.
  • each of said layers locates a region of space underneath, for which the layer is a geometric projection on any of the planes parallel to the bottom of the container 2. Said region of space locally defines the simplified solid geometry of the contained articles 3 (with the inclusion of the bottom of the container).
  • each of said layers locates a region of space on top of it (which extends as far as the plane that identifies the upper border of the container with the closed flaps), which locally defines the simplified solid geometry of the region of void space to fill in.
  • the whole void space in the container is subdivided in four different regions of space, each of them with a simplified fully known solid geometry.
  • the logic device 14 has several information regarding said regions of void space, that are: the position (relative to the container 2), the simplified geometric dimensions and shape, and the corresponding volume.
  • the latter has been calculated on the basis of the local geometry identified by the contained articles 3 (i.e. the volume of the region of void space is calculated on its actual geometry (no simplification), while the instruction about dispensing and inserting is based on a simplified geometry; this is done in order to obtain a precise information of the quantity, i.e. of the volume, of the necessary packaging material).
  • the logic device 14 can therefore communicate to the dispensing device and insertion means the respective commands and instructions in order to perform the packaging.
  • said instructions may comprise informing the dispensing device 42 about the corresponding volume value for each of said regions of void space, and, depending on the packaging material, about one or more dimensions characterizing said regions of void space (e.g. depth and/or length and/or width).
  • the instructions sent to the insertion means 43 will consist of a set of coordinates and insertion steps that are based on the computed data about the position of said regions of void space in the container.
  • the output signals of the logic device 14 can vary according to the working modalities and the typology of the used dispensing device 42 and insertion means 43.
  • the logic device 14 communicates to the dispensing device 42, on the basis of the results obtained by the elaboration process above described, the following: how many bags to produce (depending on the number of located regions of void space), which length the bags shall have (in most cases, this value has to be proportional, for instance, to the depth and to the volume of the corresponding region of void space), and which volume the bags shall expand to.
  • the logic device 14 communicates then to the insertion means 43 where and how to insert the fabricated bags into the container 2 (depending on the position of the regions of void space in the container).
  • the processing and interpretation process of the measured data includes the possibility to perform operations of "association” or "union” of said located regions of void space not occupied by the articles 3, according to fixed rules and in the modalities allowed by the dispensing device 42 and the insertion means 43, and possibly suggested by a database offering several different possible combinations limited to a simplified classification.
  • a bag 40 will be inserted vertically, as indicated by arrow 40a, until it reaches its final position as shown in figure 3b ; in this case the logic device 14 has chosen for a "union” of the two regions of void space, corresponding to L0 and L2, into a single region, which therefore is filled by the single bag 40.
  • the insertion modality for the bag 41 is indicated by the arrow 41a, while the final position of the bag is illustrated in figure 3b ; in this case the logic device 14 has chosen for an "association" of L1 with L3, imposing to the bag 41, during the positioning, a specific shape of an upside-down "L". In this way, once the flaps 16 of the container 2 have been closed, the foam, while expanding inside the bags 40 and 41, does not find any resistance to form a rectangular pillow in the case of the bag 40, and an upside-down "L"-shaped pillow in the case of the bag 41.
  • the spatial adaptability of the foam during its expansion inside the defined regions of void space, on which corresponding real volume value (as previously defined) the quantity of packaging material has been dispensed, has the effect to compensate for the geometric simplification that may optionally have been performed in the interpretation process of the geometry of the contained articles 3, previously described as an example.
  • a preferred device 43 for inserting the foam bags comprises a manipulator 8 with two grabbing tools 22 and 23 for a bag 31 and four axes 24, 26, 27 and 28 of linear motion and one axis 25 of rotational motion, as illustrated in figure 6 , where the manipulator 8 is applied to a typical foam-in-place bag machine 17 and for a possible configuration of bag insertion.
  • a foam-in-place bag machine 17 typically dispenses, from up to down and through a suitable opening, a bag 31 fabricated with plastic film, with variable length and fixed width, containing a mixture of liquids.
  • Each grabbing tool 23, 24 consists of a jaw having a fixed portion 38 and a movable portion 37 which is actuated, for example, by a pneumatic cylinder 39, which reciprocates as illustrated in figures 7a and 7b , respectively, with reference to the right grabbing tool 23, the left grabbing tool 22 being characterized by a symmetrical design.
  • the grabbing tools 22 and 23 which are positioned along a film feeding plane 29 with open jaws as long as the film is "flowing" through them, grab the upper edge of the produced bag 31 by closing the jaws.
  • the bag 31 is now held by grabbing tools 22 and 23 positioned on the horizontal linear axis 24 that, according to the kinematical chain represented by the manipulator of figure 6 , can rotate around the vertical rotational axis 25, said axis 25 being capable to move along the horizontal linear axis 26, the linear axis 26 being capable to move along the horizontal linear axis 27, the linear axis 27 being capable to move along the vertical linear axis 28.
  • the axis 26 is parallel to the motion direction 36 of the motorized conveyor device 4 (see figures 1 and 2 ); the axis 27 is perpendicular to the motion direction of the motorized conveyor device 4.
  • the bag 31 can be left to fall down or brought into the container 2 according to an infinite number of planes that are orthogonal to the plane of the motorized conveyor device 4, or, by combining several of the motion capabilities of the manipulator, the bag can be inserted into the container in further positions in addition to the vertical one, as, for example, is indicated by arrow 41a in figure 3a .
  • the grabbing tools 22 and 23 can get closer to each other by moving symmetrically along the axis 24.
  • the grabbing tools 22 and 23 can grab the bag 31 in fabrication also from the lower edge by closing as soon as the fed length of the bag 31 allows the catching; this modality allows guiding the film fed by keeping the bag laying down horizontally, by means of a back motion of the axis 26, in order to favour the distribution of the liquid along the length of the bag 31 (which is an important characteristic during the dispensing step).
  • the container closure can be manual or automatic, by means, for example, of a taper machine placed downstream the described arrangement.
  • the insertion device 43 described above is conceived for complex packaging; for simpler applications (not shown), e.g. top void filling, it can be sufficient employing conveying means, for example a hopper, which can be oriented by means of a device with two axes of motion that is capable to route the bag, coming out from the dispensing device, into the region of the container selected by the logic device.
  • conveying means for example a hopper, which can be oriented by means of a device with two axes of motion that is capable to route the bag, coming out from the dispensing device, into the region of the container selected by the logic device.
  • the apparatus 1 allows also a working modality that is "human-assisted": if the apparatus does not comprise an automatic insertion device or if this device is out of service, the operator executes this operation manually by following the instructions displayed by an insertion means comprising a graphic interface.
  • this graphic interface it is possible to overlay a top-view image of the contained articles 3 on the three-dimensional geometry of the articles themselves, which means that an image of the articles (in terms of textures) can be super-imposed to the geometrical 3D model of the articles, thus providing support to the operator in understanding the geometry of the articles 3 contained in the container 2.
  • said image which is visible in colour-scale, is obtained by acquiring the intensity of the LASER radiation being reflected by said articles.
  • the apparatus can exploit small size packaging materials with fluid-like behaviour, for example expanded plastic "chips" (loose fill).
  • the dispensing device 42 comprises a controllable flow valve 18 positioned at the bottom of a reservoir 19 which may comprise a large size bag in which generally the "chips" are stored, said reservoir 19 being arranged above the motorized conveying device 4.
  • the insertion device 43 consists of a flexible hose 20 having a suitable diameter, with a proximal end connected to an outlet of controllable flow valve18, and the other distal and open end suspended above the conveying device 4 and connected to a positioning device with two axes 21 of motion; the open end is moved by said positioning device to a position above the void regions of the container 2, so that the flow of "chips" dispensed by dispensing device 42 by operation of valve 18 is directed into the void regions.
  • FIG 9 A functional block diagram of the physical parts of the apparatus 1 previously described is shown in figure 9 .
  • the figure shows the communication connections between different sensors and devices and the characteristic of directionality in communication.
  • FIG. 10 a packaging method for dispensing and inserting material for packing articles in containers, based on the automatic packaging apparatus 1, is described as an example.
  • a flow diagram is shown, which indicates the steps that are necessary to automatically execute the process of dispensing and inserting the packaging material.
  • the automatic packaging cycle which is a subject of the invention, begins at step 105, when the system enters in a stand-by state waiting for the passage of a container 2 through an area situated before or in correspondence of the frame 5, where a presence or proximity sensor, for example a photocell 35, informs the detection unit 6 and/or the logic device 14 of the occurred event.
  • Next step 110 corresponds to the detection and transmission, in real time, of the measurement data measured by the detection unit 6 (e.g. a LASER scanning device) to the logic device 14, in which the geometric characteristics or equivalent parameters of the container 2 and the contained articles 3 are computed (step 115) and displayed on a graphic interface (step 116) for possible use in the following steps 120 and 125.
  • the detection unit 6 e.g. a LASER scanning device
  • the logic device 14 in which the geometric characteristics or equivalent parameters of the container 2 and the contained articles 3 are computed (step 115) and displayed on a graphic interface (step 116) for possible use in the following steps 120 and 125.
  • steps 120 and 125 the results of the processing of step 115 are evaluated.
  • the system stops and asks (step 125) for operator intervention.
  • the operator checks the displayed results and can for example proceed to place back the container 2 upstream the frame 5, initializing again the automatic packaging process.
  • the logic device 14 proceeds to step 130, in which the geometric distribution of the void space in the container that is not occupied by the articles is elaborated/processed and interpreted. In step 135 it generates, in step 135, suitable commands and instructions to be sent to the dispensing device 42 and insertion means 43. In case of human-assisted working modality, the logic device 14 sends instruction and commands also to a display visible to the operator (step 136).
  • step 145 the commands and instructions generated at step 135 are sent to the dispensing devices 42 and insertion means 43 in the suitable modalities and with proper timing.
  • step 150 said dispensing devices 42 and insertion means 43 complete the packaging phase of the contained articles 3 by inserting the packaging material 40, 41 according to the instructions and commands provided by the logic device 14.
  • step 155 it is verified whether the packaging process is terminated, and in step 160 the actuated stopping device and the actuated pushing device 9, 10 and 12 are reconfigured (retracted) in order to go back to step 105.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Supplying Of Containers To The Packaging Station (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)

Claims (20)

  1. Appareil pour distribuer et insérer un matériau d'emballage dans un contenant (2) comprenant :
    une unité de détection (6) pour acquérir des données caractérisant un espace vide dans le contenant (2) ;
    un dispositif de distribution (42) qui distribue un matériau d'emballage sous la forme de sacs (31) comprenant une mousse de polyuréthane ou un mélange ou une substance expansible sous forme de mousse (mousse en sac) ;
    des moyens de traitement (14) en communication avec ladite unité de détection (6), lesdits moyens de traitement étant conçus pour générer des signaux de commande pour ledit dispositif de distribution (42) de matériau d'emballage de type mousse en sac,
    caractérisé en ce que
    lesdits moyens de traitement (14) sont conçus pour déterminer et interpréter une répartition géométrique de l'espace vide sur la base des données acquises et pour définir une quantité, une taille et une forme du matériau d'emballage de type mousse en sac qui doit être placé à un emplacement défini dans le contenant sur la base de l'interprétation,
    ledit dispositif de distribution (42) est conçu pour fabriquer et distribuer automatiquement ledit matériau d'emballage de type mousse en sac conformément à ladite répartition géométrique, et
    des moyens d'insertion (43) sont prévus afin de commander le placement du matériau d'emballage dans ledit contenant (2) conformément à ladite répartition géométrique de l'espace vide, c'est-à-dire pour commander où et comment insérer le matériau d'emballage de type mousse en sac dans le contenant (2).
  2. Appareil selon la revendication 1, comprenant en outre un dispositif de transport (4) motorisé pour transporter séquentiellement lesdits contenants (2), ladite unité de détection (6) étant placée le long dudit dispositif de transport (4) ; et ladite unité de distribution (42) étant placée en aval de ladite unité de détection (6).
  3. Appareil selon l'une des revendications 1 ou 2, dans lequel l'acquisition des données caractérisant l'espace vide comprend l'acquisition des données géométriques du contenant et des articles (3) contenus dans ledit contenant (2).
  4. Appareil selon l'une des revendications 1 à 3, dans lequel les moyens d'insertion (43) commandent l'insertion du matériau d'emballage de type mousse en sac sur la base des instructions et des commandes reçues desdits moyens de traitement (14).
  5. Appareil selon l'une quelconque des revendications précédentes, dans lequel lesdits moyens de traitement comprennent un dispositif logique (14) capable d'acquérir les données obtenues de ladite unité de détection (6), de traiter lesdites données afin de déterminer les caractéristiques géométriques ou des données équivalentes du contenant (2) et des articles (3) contenus, et d'interpréter la répartition géométrique de l'espace vide non occupé par les articles (3) dans le contenant (2), pour délivrer des instructions et des commandes concernant les modalités de remplissage dudit espace vide avec le matériau d'emballage de type mousse en sac.
  6. Appareil selon la revendication 5, dans lequel ladite interprétation de la répartition géométrique de l'espace non occupé par les articles (3) dans le contenant (2) comprend la localisation d'une ou de plusieurs régions de l'espace qui sont partiellement délimitées par des éléments géométriques appartenant à, ou déduits de, la géométrie desdits articles (3), lesdits éléments géométriques ayant des caractéristiques en commun ou analogues.
  7. Appareil selon la revendication 6, dans lequel lesdites caractéristiques en commun ou analogues comprennent la distance desdits éléments géométriques, appartenant à, ou déduits de, la géométrie desdits articles (3), par rapport à un plan de référence.
  8. Appareil selon la revendication 5, 6 ou 7, dans lequel ledit dispositif logique (14) est capable d'effectuer des opérations « d'association » ou « d'union » desdites régions localisées de l'espace non occupé par les articles (3), selon des règles fixées et selon des modalités autorisées par le dispositif de distribution et les moyens d'insertion, et finalement suggérées par une base de données offrant plusieurs combinaisons possibles différentes limitées à une classification simplifiée.
  9. Appareil selon l'une quelconque des revendications précédentes, dans lequel lesdits moyens d'insertion pour insérer un matériau d'emballage de type mousse en sac dans le contenant comprennent un manipulateur (8) avec au moins un outil de préhension (22, 23), mécanique ou pneumatique, avec au moins un axe de mouvement linéaire (24, 26, 27, 28) et/ou avec au moins un axe de mouvement de rotation (25), capable d'insérer des sacs de mousse (31) dans le contenant (2), conformément à des commandes et des instructions données par ledit dispositif logique (14).
  10. Dispositif selon l'une quelconque des revendications 1 à 8, dans lequel lesdits moyens d'insertion (43), qui insèrent le matériau d'emballage de type mousse en sac dans le contenant (2), comprennent des moyens de transport du matériau d'emballage de type mousse en sac, sans outil de préhension, conformément à des instructions et des commandes données par ledit dispositif logique (14).
  11. Appareil selon l'une quelconque des revendications précédentes, dans lequel lesdits moyens d'insertion (43) délivrent, sur une interface graphique, en communication avec ledit système informatisé, les instructions pour l'opérateur concernant la manière d'insérer le matériau d'emballage de type mousse en sac dans le contenant (2).
  12. Appareil selon l'une quelconque des revendications précédentes, dans lequel ledit dispositif de transport (4) motorisé est configuré afin de transporter séquentiellement lesdits contenants (2) et chaque contenant (2) séparément du suivant, et pour arrêter les contenants (2) situés dans une zone d'emballage (7) afin de permettre le positionnement et/ou l'alignement des contenants (2) conformément à un système de coordonnées de référence.
  13. Procédé pour distribuer et insérer un matériau d'emballage dans un contenant (2), comprenant l'acquisition automatique de données caractérisant l'espace vide non occupé par les articles (3) dans le contenant (2),
    caractérisé en ce qu'il comprend en outre :
    la détermination et l'interprétation d'une répartition géométrique de l'espace vide sur la base des données acquises;
    la définition d'une quantité, d'une taille et d'une forme du matériau d'emballage de type mousse en sac comprenant au moins un sac (31) comprenant une mousse de polyuréthane ou un mélange ou une substance expansible sous forme de mousse qui doit être placée à un emplacement défini dans le contenant sur la base de l'interprétation de la répartition géométrique de l'espace vide ;
    la fabrication du matériau d'emballage de type mousse en sac conformément à la définition précédente de la quantité, de la taille et de la forme ;
    la distribution automatique du matériau d'emballage de type mousse en sac conformément à la répartition géométrique déterminée et interprétée de l'espace vide ;
    la commande du placement du matériau d'emballage de type mousse en sac dans ledit contenant (2) conformément à ladite répartition géométrique de l'espace vide, c'est-à-dire la commande de l'emplacement d'insertion et de la manière d'insérer le matériau d'emballage de type mousse en sac (31) dans le contenant (2).
  14. Procédé selon la revendication 13, dans lequel l'étape automatique de détermination et d'interprétation de la répartition géométrique de l'espace vide non occupé par lesdits articles (3) dans le contenant (2) comprend la localisation d'une ou de plusieurs régions de l'espace qui sont partiellement délimitées par des éléments géométriques appartenant à, ou déduits de, la géométrie desdits articles (3), lesdits éléments géométriques ayant des caractéristiques en commun ou analogues.
  15. Procédé selon la revendication 14, dans lequel lesdites caractéristiques en commun ou analogues comprennent la distance desdites éléments géométriques, appartenant à, ou déduits de, la géométrie desdits articles (3), par rapport à un plan de référence.
  16. Procédé selon la revendication 14 ou 15, dans lequel ladite étape d'interprétation comprend des opérations « d'association » ou « d'union » desdites régions localisées de l'espace vide non occupées par les articles (3), selon des règles fixées et selon des modalités autorisées par le dispositif de distribution (42) et les moyens d'insertion (43), et finalement suggérées par une base de données offrant plusieurs combinaisons possibles différentes limitées à une classification simplifiée.
  17. Procédé selon l'une quelconque des revendications 13 à 16, dans lequel l'étape de distribution et d'insertion d'un matériau d'emballage de type mousse en sac comprend la génération automatique, effectuée par les moyens de traitement (14), d'instructions et de commandes concernant la distribution et l'insertion du matériau d'emballage de type mousse en sac dans le contenant (2), sur la base de l'interprétation de la répartition géométrique de l'espace non occupé par les articles (3) dans le contenant (2), et la communication automatique desdites instructions et commandes de distribution et d'insertion aux dispositifs de distribution (42) et aux moyens d'insertion (43) correspondants.
  18. Procédé selon l'une quelconque des revendications 13 à 17, dans lequel l'étape de distribution et d'insertion comprend l'insertion automatique du matériau d'emballage de type mousse en sac dans ledit contenant (2) au moyen d'un manipulateur (8).
  19. Procédé selon l'une quelconque des revendications 13 à 17, dans lequel l'étape de distribution et d'insertion comprend l'acheminement du matériau d'emballage de type mousse en sac dans le contenant (2) sans manipulation automatique.
  20. Procédé selon la revendication 19, dans lequel l'étape de distribution et d'insertion comprend l'insertion du matériau d'emballage de type mousse en sac par un opérateur, conformément aux instructions délivrées par le dispositif logique (14) sur une interface graphique.
EP20090803737 2008-12-31 2009-12-30 Appareil pour distribuer et inserer un materiau d'emballage dans des recipients et procede associe Active EP2370319B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITRE2008A000122A IT1392529B1 (it) 2008-12-31 2008-12-31 Apparecchiatura per l'erogazione e l'inserimento di materiale per imballaggio in contenitori e relativo metodo.
PCT/EP2009/009318 WO2010076026A1 (fr) 2008-12-31 2009-12-30 Appareil pour distribuer et insérer un matériau d'emballage dans des récipients et procédé associé

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EP2370319A1 EP2370319A1 (fr) 2011-10-05
EP2370319B1 true EP2370319B1 (fr) 2014-01-22

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EP (1) EP2370319B1 (fr)
CN (1) CN102264602A (fr)
AU (1) AU2009335214B2 (fr)
BR (1) BRPI0921548B1 (fr)
CA (1) CA2742459A1 (fr)
IT (1) IT1392529B1 (fr)
WO (1) WO2010076026A1 (fr)

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CN102264602A (zh) 2011-11-30
EP2370319A1 (fr) 2011-10-05
US9102429B2 (en) 2015-08-11
AU2009335214A1 (en) 2010-07-08
US20110308204A1 (en) 2011-12-22
ITRE20080122A1 (it) 2010-07-01
IT1392529B1 (it) 2012-03-09
BRPI0921548A2 (pt) 2016-03-08
CA2742459A1 (fr) 2010-07-08
BRPI0921548B1 (pt) 2020-04-14
WO2010076026A1 (fr) 2010-07-08
AU2009335214B2 (en) 2014-07-17

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